#include<iostream>
using namespace std;
#include<vector>
#include<cmath>
#include<algorithm>
#include<cstring>
#include "fsg3d.h"
#include "mindisobs.h"

typedef vector<vector<float>> matric;
typedef vector<float> vec;
#define PI 3.14

struct Gridmap
{
    vector<int> hmap;
    vector<int> flagkxcar;
};

Gridmap contiObsMap_dymap_G(const matric &obs,const int &dx, const int &dy, const int &rsafe, const vec &zmin, const vec &zmax,const vector<int> &nz, vector<float> &Ahmap, vector<vector<float>>pilerange);
